Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-21 15:25:29 +03:00
Code Issues Wiki Activity

some minor cleanups

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-05-19 21:32:01 +02:00
parent 7c37d7b287
commit 43c44c78dd
3 changed files with 6 additions and 9 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/navigation/navigation.c
View file

@ -1972,6 +1972,9 @@ static bool adjustPositionFromRCInput(void)
}
else {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
/*
* Process states only for POSHOLD. In any other case we go back to old routines
*/
@ -1984,9 +1987,6 @@ static bool adjustPositionFromRCInput(void)
NAV_Status.state == MW_NAV_STATE_HOLD_INFINIT
)
) {
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
/*
* Case one, when we order to brake (sticks to the center) and we are moving above threshold
* Speed is above 1m/s and sticks are centered
@ -2077,7 +2077,7 @@ static bool adjustPositionFromRCInput(void)
}
retValue = adjustMulticopterPositionFromRCInput();
retValue = adjustMulticopterPositionFromRCInput(rcPitchAdjustment, rcRollAdjustment);
}
return retValue;

5
src/main/navigation/navigation_multicopter.c
View file

@ -274,11 +274,8 @@ void resetMulticopterPositionController(void)
}
}
bool adjustMulticopterPositionFromRCInput(void)
bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcRollAdjustment)
{
const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->pos_hold_deadband);
const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
if (rcPitchAdjustment || rcRollAdjustment) {
// If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID
if (navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE) {

2
src/main/navigation/navigation_private.h
View file

@ -390,7 +390,7 @@ void resetMulticopterHeadingController(void);
bool adjustMulticopterAltitudeFromRCInput(void);
bool adjustMulticopterHeadingFromRCInput(void);
bool adjustMulticopterPositionFromRCInput(void);
bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcRollAdjustment);
void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs);